/*
 * ****************************************************************************
 * Copyright (c) 2013, Daniel Murphy All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification, are permitted
 * provided that the following conditions are met:
 * * Redistributions of source code must retain the above copyright notice, this list of conditions
 *   and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright notice, this list of
 *   conditions and the following disclaimer in the documentation and/or other materials provided
 *   with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
 * WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * ****************************************************************************
 */
package org.jbox2d.dynamics.joints

import org.jbox2d.common.Vec2
import org.jbox2d.dynamics.Body

/** Created at 3:38:52 AM Jan 15, 2011 */
/** @author Daniel Murphy */
class WeldJointDef : JointDef() {
  /** The local anchor point relative to body1's origin. */
  val localAnchorA: Vec2 = Vec2()

  /** The local anchor point relative to body2's origin. */
  val localAnchorB: Vec2 = Vec2()

  /** The body2 angle minus body1 angle in the reference state (radians). */
  var referenceAngle: Float = 0.0f

  /**
   * The mass-spring-damper frequency in Hertz. Rotation only. Disable softness with a value of 0.
   */
  var frequencyHz = 0f

  /** The damping ratio. 0 = no damping, 1 = critical damping. */
  var dampingRatio = 0f

  override var type: JointType = JointType.WELD

  /**
   * Initialize the bodies, anchors, and reference angle using a world anchor point.
   *
   * @param bA
   * @param bB
   * @param anchor
   */
  fun initialize(bA: Body, bB: Body, anchor: Vec2) {
    bodyA = bA
    bodyB = bB
    bodyA.getLocalPointToOut(anchor, localAnchorA)
    bodyB.getLocalPointToOut(anchor, localAnchorB)
    referenceAngle = bodyB.angle - bodyA.angle
  }
}
